CN113247375B - Automatic packaging system of medicine - Google Patents
Automatic packaging system of medicine Download PDFInfo
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- CN113247375B CN113247375B CN202110563432.3A CN202110563432A CN113247375B CN 113247375 B CN113247375 B CN 113247375B CN 202110563432 A CN202110563432 A CN 202110563432A CN 113247375 B CN113247375 B CN 113247375B
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- medicine
- carrying platform
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- medicine bottle
- bottle carrying
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
- B65B43/42—Feeding or positioning bags, boxes, or cartons in the distended, opened, or set-up state; Feeding preformed rigid containers, e.g. tins, capsules, glass tubes, glasses, to the packaging position; Locating containers or receptacles at the filling position; Supporting containers or receptacles during the filling operation
- B65B43/54—Means for supporting containers or receptacles during the filling operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
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- Mechanical Engineering (AREA)
- Basic Packing Technique (AREA)
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Abstract
The invention discloses an automatic medicine packaging system, which comprises a medicine charging system and an automatic feeding and discharging system; the medicine charging system comprises a medicine bottle carrying platform and a medicine charging device; the medicine bottle carrying platform is used for loading medicine bottles arranged in an array and performs linear reciprocating translational motion; the automatic loading and unloading system comprises two groups of mechanical arms, and the two groups of mechanical arms are respectively arranged on two sides of the explosive charging device; the manipulator is used for taking the medicine bottles filled with the medicines from the medicine bottle carrying platform and arranging the emptied medicine bottles on the medicine bottle carrying platform; the manipulator can grab the medicine bottle array arranged in array in batches. In the automatic medicine packaging system, the mechanical arms positioned on the two sides of the packaging device can unload all medicine bottles on the medicine bottle carrying platform at one time and load new medicine bottles, the medicine bottle carrying platform passes through the medicine charging device in a reciprocating mode, and the two mechanical arms can load and unload the medicine bottles in turn, so that high-efficiency loading and unloading can be realized, and the packaging efficiency is improved.
Description
Technical Field
The invention relates to the technical field of medicine packaging, in particular to an automatic medicine packaging system.
Background
In the medicine field, when bottling the medicine, generally based on current charging means design unloading system on, consequently need frequently load charging means with the medicine bottle and carry out the unloading with the medicine bottle of adorning the medicine, complex operation, inefficiency, consequently it is efficient to need design a medicine automated packaging system who goes up unloading.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention provides the automatic medicine packaging system with high medicine bottle loading and unloading efficiency.
The technical scheme is as follows: in order to achieve the purpose, the automatic medicine packaging system comprises a medicine charging system and an automatic feeding and discharging system;
the medicine charging system comprises a medicine bottle carrying platform and a medicine charging device; the medicine bottle carrying platform is used for loading medicine bottles arranged in an array and makes linear reciprocating translation motion;
the automatic loading and unloading system comprises two groups of mechanical arms, and the two groups of mechanical arms are respectively arranged on two sides of the explosive charging device; the manipulator is used for taking the medicine bottles filled with the medicines from the medicine bottle carrying platform and arranging the empty medicine bottles on the medicine bottle carrying platform; the manipulator can grab the medicine bottle array arranged in array in batches.
Furthermore, the manipulator can move in a translation mode, and the translation movement route of the manipulator is perpendicular to the translation movement route of the medicine bottle carrying platform;
an empty bottle feeding line and a full bottle discharging line are respectively arranged on two sides of the translation line of the medicine bottle carrying platform; the empty bottle feeding line and the full bottle discharging line are respectively provided with two lines which respectively correspond to the two groups of mechanical arms.
Furthermore, the number of columns of the medicine bottle array which can be grabbed by the manipulator at one time is consistent with the maximum number of columns of the medicine bottles which can be accommodated by the medicine bottle carrying platform, and the number of rows of the medicine bottle array which can be grabbed by the manipulator at one time is twice as large as the maximum number of rows of the medicine bottles which can be accommodated by the medicine bottle carrying platform; the rows of the medicine bottle arrays are parallel to the translation route of the medicine bottle carrying platform, and the columns of the medicine bottle arrays are perpendicular to the translation route of the medicine bottle carrying platform.
Furthermore, the manipulator comprises a manipulator base body and a plurality of groups of row grabbing components; each group of the line grabbing components comprises two grabbing strips arranged oppositely, a plurality of concave parts arranged in a linear array are formed on each grabbing strip, and the concave parts on the two grabbing strips are arranged oppositely; the device also comprises an opening and closing control device, wherein the opening and closing control device is used for driving the two grabbing strips contained in the row grabbing component to execute opening and closing actions.
Furthermore, the opening and closing control device comprises a first rack and a second rack; in the two grabbing strips of each line grabbing assembly, the grabbing strip on one side is fixed on the first rack, and the grabbing strip on the other side is fixed on the second rack; the opening and closing control device further comprises an opening and closing driving gear and an opening and closing driving motor, the first rack and the second rack are both meshed with the opening and closing driving gear, and the first rack and the second rack are located on two sides of the opening and closing driving gear; the opening and closing driving motor is in driving connection with the opening and closing driving gear.
Furthermore, the medicine charging system further comprises an intermittent movement mechanism, and the intermittent movement mechanism is used for driving the medicine bottle carrier to perform intermittent translational movement.
Has the beneficial effects that: according to the automatic medicine packaging system, the medicine bottle carrying platform capable of reciprocating is arranged, the medicine bottle carrying platform can carry medicine bottles to carry out medicine charging operation through the lower portion of the medicine charging device, when the whole medicine bottle carrying platform penetrates through the lower portion of the medicine charging device, the mechanical arm located on one side of the medicine charging device unloads all the medicine bottles on the medicine bottle carrying platform at one time and loads new medicine bottles, the medicine bottle carrying platform reversely moves to penetrate through the lower portion of the medicine charging device, the mechanical arm located on the other side of the medicine charging device unloads all the medicine bottles on the medicine bottle carrying platform at one time and loads new medicine bottles, and the operation is repeated in such a circulating mode, so that efficient material loading and unloading can be achieved, and packaging efficiency is improved.
Drawings
FIG. 1 is a perspective view of an automated pharmaceutical packaging system;
FIG. 2 is a top view of the automated pharmaceutical packaging system;
FIG. 3 is a side view of the automated pharmaceutical packaging system;
FIG. 4 is a perspective view of the robot;
FIG. 5 is a bottom view of the robot;
FIG. 6 is a perspective view of the intermittent motion mechanism;
FIG. 7 is a perspective view of the force applying mechanism;
FIG. 8 is a front view of the force applying mechanism portion;
FIG. 9 is a cross-sectional structural view of a portion of the force applying mechanism.
In the figure: 1-carrying the medicine bottle; 2-an intermittent motion mechanism; 21-a movable seat; 211-a guide; 212-an extension; 22-a drive screw; 221-positive thread groove; 222-reverse thread groove; 223-temporary ring groove; 23-a drive motor; 24-a force application mechanism; 241-a slide seat; 2411-a pushing part; 2412-U-shaped notch; 242-a motor; 243-the transmission shaft; 244 — a first gear; 245-a second gear; 246-first rack; 2461-first set of teeth; 247-a second rack; 2471-second set of teeth; 248-a spring; 25-guide sleeve; 251-a main sleeve body; 252 — a first vertical portion; 253-a second vertical portion; 26-a travel switch; 3-a charge; 4-a manipulator; 41-manipulator base; 42-row grabbing component; 421-grabbing strips; 43-an opening and closing control device; 431-a first rack; 432-a second rack; 433 — opening and closing drive gear; 434-open and close driving motor; 5-empty bottle feeding line; 6-full bottle blanking line.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
The automated pharmaceutical packaging system shown in fig. 1-3 comprises a drug charging system and an automatic loading and unloading system; the medicine charging system comprises a medicine bottle carrier 1 and a medicine charging device 3; the medicine bottle carrying platform 1 is used for loading medicine bottles arranged in an array and performs linear reciprocating translational motion; the automatic loading and unloading system comprises two groups of mechanical arms 4, and the two groups of mechanical arms 4 are respectively arranged on two sides of the explosive charging device 3; the manipulator 4 is used for taking medicine bottles filled with medicines from the medicine bottle carrying platform 1 and arranging empty medicine bottles on the medicine bottle carrying platform 1; the manipulator 4 can grab the medicine bottle array arranged in array in batches.
The manipulator 4 can perform translational motion, and the translational motion route of the manipulator is vertical to the translational motion route of the medicine bottle carrying platform 1;
an empty bottle feeding line 5 and a full bottle discharging line 6 are respectively arranged on two sides of the translation line of the medicine bottle carrying platform 1; the empty bottle feeding line 5 and the full bottle discharging line 6 are respectively two and respectively correspond to the two groups of mechanical arms 4.
The manipulator 4 can grab the medicine bottle arrays arranged in an array in batches; the number of columns of the medicine bottle array which can be grabbed by the manipulator 4 at one time is consistent with the maximum number of columns of the medicine bottles which can be accommodated by the medicine bottle carrying platform 1, and the number of rows of the medicine bottle array which can be grabbed by the manipulator 4 at one time is twice as large as the maximum number of rows of the medicine bottles which can be accommodated by the medicine bottle carrying platform 1; the rows of the medicine bottle arrays are parallel to the translation route of the medicine bottle carrying platform 1, and the columns of the medicine bottle arrays are perpendicular to the translation route of the medicine bottle carrying platform 1.
With the above structure, the operation flow is as follows (for convenience of description, the two sides of the charging device 3 are the first side and the second side respectively):
initially, the medicine bottle carrier 1 is positioned at the first side of the medicine charging device 3, and the manipulator 4 positioned at the first side of the medicine charging device 3 places a batch of medicine bottles on the corresponding empty bottle feeding line 5 on the medicine bottle carrier 1 at one time; the medicine bottle carrying platform 1 carries empty medicine bottles to pass through the lower side of the medicine charging device 3, the medicine charging device 3 carries out medicine charging on the empty medicine bottles on the medicine bottle carrying platform 1 row by row until all the empty medicine bottles are filled, the medicine bottle carrying platform 1 carries all the medicine bottles to move to the second side of the medicine charging device 3, the mechanical arm 4 on the second side moves downwards and executes grabbing operation, the mechanical arm 4 on the second side lifts and transversely (perpendicular to the translation direction of the medicine bottle carrying platform 1) translates, the medicine bottles with the medicines are grabbed from the medicine bottle carrying platform 1, meanwhile, a batch of empty medicine bottles are moved to the upper side of the medicine bottle carrying platform 1, finally, the mechanical arm 4 on the second side descends and loosens all the medicine bottles, the medicine bottles with the medicines are placed to the full bottle discharging line 6, and meanwhile, a batch of empty medicine bottles are placed on the medicine bottle carrying platform 1; thereafter, the medicine bottle carrying platform 1 reversely translates, empty medicine bottles are carried to pass through the lower side of the medicine charging device 3, the medicine charging device 3 carries out medicine charging on the empty medicine bottles on the medicine bottle carrying platform 1 row by row until all the empty medicine bottles are filled, the medicine bottle carrying platform 1 carries all the medicine bottles to move to the first side of the medicine charging device 3, the mechanical arm 4 on the first side moves downwards and executes grabbing operation, the mechanical arm 4 on the first side lifts and transversely (perpendicular to the translation direction of the medicine bottle carrying platform 1) translates, when grabbing all the medicine bottles filled with medicine on the medicine bottle carrying platform 1, the mechanical arm 4 on the first side moves a batch of empty bottles to the upper side of the medicine bottle carrying platform 1, and finally, the mechanical arm 4 on the first side descends and loosens all the medicine bottles, and when putting the medicine bottles filled with medicine on the full bottle discharging line 6, a batch of empty medicine bottles are put on the medicine bottle carrying platform 1; the medicine bottles are circularly reciprocated, batch feeding and discharging of the medicine bottles are realized, the efficiency is high, and the medicine bottles do not need to be frequently loaded and unloaded.
Specifically, in order to realize batch grabbing of the medicine bottles, as shown in fig. 4-5, the manipulator 4 includes a manipulator base 41 and a plurality of groups of row grabbing components 42; each group of the line grabbing components 42 can grab a line of medicine bottles at a time, and includes two grabbing strips 421 arranged in an opposite manner, each grabbing strip 421 is formed with a plurality of concave portions arranged in a linear array, and the concave portions on the two grabbing strips 421 are arranged in an opposite manner; the device further comprises an opening and closing control device 43, wherein the opening and closing control device 43 is used for driving the two grabbing strips 421 included in all the line grabbing components 42 to execute opening and closing actions.
The opening and closing control device 43 comprises a first rack 431 and a second rack 432; of the two grabbing strips 421 of each row grabbing component 42, the grabbing strip 421 on one side is fixed on the first rack 431, and the grabbing strip 421 on the other side is fixed on the second rack 432; the opening and closing control device 43 further comprises an opening and closing drive gear 433 and an opening and closing drive motor 434, the first rack 431 and the second rack 432 are both meshed with the opening and closing drive gear 433, and the first rack 431 and the second rack 432 are located on two sides of the opening and closing drive gear 433; the opening and closing driving motor 434 is in driving connection with the opening and closing driving gear 433.
Through the structure, the opening and closing driving motor 434 is driven to rotate forwards and backwards, and the opening and closing driving gear 433, the first rack 431 and the second rack 432 are driven to synchronously open and close the grabbing assemblies 42 in all rows.
Preferably, the medicine charging system further comprises an intermittent movement mechanism 2, and the intermittent movement mechanism 2 is used for driving the medicine bottle carrier 1 to perform intermittent translational movement. By providing an intermittent translational movement of the vial carrier 1, the vial carrier 1 can be left for a short period of time for each translational step, so that the charging means 3 has time to charge each column of vials.
Specifically, as shown in fig. 6, the intermittent mechanism 2 includes a moving base 21, a driving screw 22, and a driving motor 23; the medicine bottle carrier 1 is fixed to the moving base 21, and as shown in fig. 8, a forward thread groove 221 and a reverse thread groove 222 are formed in the driving screw rod 22, and the rotation directions of the two are opposite and both ends of the two are communicated with each other; the driving screw 22 is also provided with temporary ring grooves 223 at intervals of set distance; the driving motor 23 is in driving connection with the driving lead screw 22; the movable base 21 is provided with a guide portion 211 movable along the forward thread groove 221 and the reverse thread groove 222.
Through the above structure, by controlling the operation of the driving motor 23, the driving screw 22 can be rotated to make the guiding portion 211 move in the forward thread groove 221 or the reverse thread groove 222, when the guiding portion 211 moves to the temporary ring groove 223, because the temporary ring groove 223 extends along the circumferential direction of the driving screw 22, at this time, the guiding portion 211 stays in place for a period of time when the driving screw 22 rotates until entering the next thread groove again to drive the moving seat 21 to continue moving, so that the moving seat 21 can stay for a period of time when moving for a distance; in addition, since the forward thread groove 221 and the reverse thread groove 222 are communicated with each other, when the guiding portion 211 moves to the end of the forward thread groove 221, it enters the reverse thread groove 222 by itself to realize the reverse pushing of the moving seat 21, and similarly, when the guiding portion 211 moves to the end of the reverse thread groove 222, it enters the forward thread groove 221 by itself; in this way, the reciprocating intermittent motion of the movable base 21 can be realized, and the vial carrier 1 attached to the movable base 21 can also be made to reciprocate intermittently.
Preferably, in order to prevent the guide portion 211 from being always retained in the retaining ring groove 223, the device further comprises an urging mechanism 24, as shown in fig. 7 to 9, wherein the urging mechanism 24 applies an urging force to the guide portion 211 so that the guide portion 211 is not always retained in the retaining ring groove 223; the direction of the force applied to the guide portion 211 by the force applying mechanism 24 is parallel to the axial direction of the driving screw rod 22, and the direction of the force is consistent with the target movement direction of the movable seat 21, that is, when the guide portion 211 moves along the forward thread groove 221, the force applying mechanism 24 applies a forward force to the guide portion 211, and when the guide portion 211 moves along the reverse thread groove 222, the force applying mechanism 24 applies a reverse force to the guide portion 211, so that the guide portion 211 can enter a correct thread groove after coming out of the temporary holding ring groove 223.
Specifically, the force application mechanism 24 includes a slide seat 241, a motor 242, a transmission shaft 243, a first gear 244, a second gear 245, a first rack 246, and a second rack 247; the transmission shaft 243 is rotatably mounted relative to the sliding base 241, the first gear 244 and the second gear 245 are respectively mounted at two ends of the transmission shaft 243, and the motor 242 is in driving connection with the transmission shaft 243; a first tooth group 2461 is formed on the first rack 246 in an array manner, and the first tooth group 2461 is formed by a plurality of first teeth; a second tooth group 2471 is formed on the second rack 247 in an array manner, and the second tooth group 2471 is composed of a plurality of second teeth; the first gear 244 and the second gear 245 can respectively form a meshing relationship with the first tooth group 2461 and the second tooth group 2471, the transmission ratio of the two meshing relationships is different, only one meshing relationship is in a running state at the same time, and the other meshing relationship is in a disengagement state; the slider 241 is configured to act on the guide portion 211. When the first gear 244 is in an operative relationship with the first set of teeth 2461 and the second gear 245 is in a disengaged relationship with the second set of teeth 2471, the carriage 241 is operated at a slower speed than the normal operation of the guide 211; when the engagement relationship between the second gear 245 and the second gear set 2471 is in an operating state and the engagement relationship between the first gear 244 and the first gear set 2461 is in a disengaged state, the operating speed of the slider 241 is faster than the normal operating speed of the guide portion 211, which is the operating speed of the guide portion 211 when the drive screw 22 is operating and the guide portion 211 is in the forward thread groove 221 or the reverse thread groove 222.
Preferably, the intermittent motion mechanism 2 further comprises a guide sleeve 25, wherein the guide sleeve 25 is in a cross shape and comprises a main sleeve body 251, a first vertical part 252 and a second vertical part 253; the main sleeve body 251 is internally provided with a first through hole penetrating through the main sleeve body 251, the main sleeve body 251 is sleeved on the periphery of the driving screw rod 22 and can slide relative to the driving screw rod 22, the first vertical part 252 is internally provided with a second through hole communicated with the first through hole, the moving seat 21 is provided with a protruding part 212 arranged in the second through hole, and the guide part 211 is arranged at the end part of the protruding part 212; the slider 241 acts indirectly on the protruding portion 212 by acting on the second perpendicular portion 253.
The sliding base 241 is provided with a pushing portion 2411, the pushing portion 2411 is formed with a U-shaped notch 2412, and springs 248 are arranged between two side walls of the U-shaped notch 2412 and the second vertical portion 253.
With the above structure, when the screw driver operates in the forward direction, the guide part 211 is disposed at one end of the forward thread groove 221, the driving motor 23 drives the driving screw 22 to rotate in the forward direction, and at the same time, the motor 242 operates to make the sliding seat 241 move in the same direction as the guide part 211, and when the first temporary holding groove 223 is reached, the spring 248 for forward pushing is compressed, and the elastic force of the spring 248 pushes the second vertical part 253 to make the guide part 211 leave the first temporary holding groove 223 and enter the next thread section of the forward thread groove 221; when the guide part 211 leaves the first temporary ring groove 223 and enters the next thread section of the forward thread groove 221, the first gear 244 is engaged with a first tooth group 2461 on the first rack 246, at this time, the second gear 245 is in an idle running state, so that the running speed of the sliding base 241 is lower than the running speed of the guide part 211, the spring 248 for forward pushing gradually returns to a normal length, when the spring 248 for forward pushing returns to the normal length, the second gear 245 is engaged with a second tooth group 2471 on the second rack 247, at this time, the first gear 244 becomes an idle running state, the running speed of the sliding base 241 is higher than the running speed of the guide part 211, the spring 248 for forward pushing is gradually compressed again until the guide part 211 enters the second temporary ring groove 223, the guide part 211 is pushed out by the spring 248 for forward pushing into the next thread section after the temporary ring groove 223 for a while continuing the reverse running of the drive screw shaft 22, and the principle of the reverse running of the motor 242 is not repeated. In the above process, only the motor 242 and the driving screw 22 need to operate at a constant speed, and the control is convenient.
The intermittent motion mechanism 2 further comprises a travel switch 26, and the travel switch 26 is arranged on both sides of the operation travel of the moving seat 21. The motor 242 and the travel switch 26 are both connected to the controller, and when the travel switch 26 generates a trigger signal, the controller immediately controls the motor 242 to rotate in reverse and rotate at a preset rotation speed upon receiving the trigger signal, so that the movable base 21 and the sliding base 241 can synchronously perform forward and reverse travel switching.
In the automatic medicine packaging system, the mechanical arms positioned on the two sides of the packaging device can unload all medicine bottles on the medicine bottle carrying platform at one time and load new medicine bottles, the medicine bottle carrying platform passes through the medicine charging device in a reciprocating mode, and the two mechanical arms can load and unload the medicine bottles in turn, so that high-efficiency loading and unloading can be realized, and the packaging efficiency is improved.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the principles of the invention and these are intended to be within the scope of the invention.
Claims (4)
1. An automatic medicine packaging system is characterized by comprising a medicine charging system and an automatic feeding and discharging system;
the medicine charging system comprises a medicine bottle carrier (1) and a medicine charging device (3); the medicine bottle carrying platform (1) is used for loading medicine bottles arranged in an array and makes linear reciprocating translation motion;
the automatic loading and unloading system comprises two groups of mechanical arms (4), and the two groups of mechanical arms (4) are respectively arranged on two sides of the explosive charging device (3); the manipulator (4) is used for taking the medicine bottles filled with the medicines from the medicine bottle carrying platform (1) and arranging the emptied medicine bottles on the medicine bottle carrying platform (1); the manipulator (4) can grab the medicine bottle arrays arranged in the array in batches;
the manipulator (4) can perform translational motion, and the translational motion route of the manipulator is vertical to the translational motion route of the medicine bottle carrying platform (1);
an empty bottle feeding line (5) and a full bottle discharging line (6) are respectively arranged on two sides of the translation line of the medicine bottle carrying platform (1); two empty bottle feeding lines (5) and two full bottle discharging lines (6) are respectively arranged and respectively correspond to the two groups of mechanical arms (4);
the number of columns of the medicine bottle array which can be grabbed by the manipulator (4) at one time is consistent with the maximum number of columns of the medicine bottles which can be accommodated by the medicine bottle carrying platform (1), and the number of rows of the medicine bottle array which can be grabbed by the manipulator (4) at one time is twice as large as the maximum number of rows of the medicine bottles which can be accommodated by the medicine bottle carrying platform (1); the rows of the medicine bottle arrays are parallel to the translation route of the medicine bottle carrying platform (1), and the columns of the medicine bottle arrays are perpendicular to the translation route of the medicine bottle carrying platform (1);
firstly, a medicine bottle carrying platform (1) is positioned on the first side of a medicine charging device (3), and a manipulator (4) positioned on the first side of the medicine charging device (3) places a batch of medicine bottles on a corresponding empty bottle feeding line (5) on the medicine bottle carrying platform (1) at one time; the medicine bottle carrying platform (1) carries empty medicine bottles to pass through the lower side of the medicine charging device (3), the medicine charging device (3) carries out medicine charging on the empty medicine bottles on the medicine bottle carrying platform (1) row by row until all the empty medicine bottles are filled, the medicine bottle carrying platform (1) carries all the medicine bottles to move to the second side of the medicine charging device (3), the mechanical arm (4) on the second side moves downwards and executes grabbing operation, the mechanical arm (4) on the second side grabs all the medicine bottles filled with medicine on the medicine bottle carrying platform (1) and simultaneously grabs a group of empty bottles on the corresponding empty bottle feeding line (5), then the mechanical arm (4) on the second side ascends and transversely translates, the medicine bottles filled with medicine are grabbed from the medicine bottle carrying platform (1) and simultaneously move the group of empty bottles to the upper side of the medicine bottle carrying platform (1), and finally, the mechanical arm (4) on the second side descends and loosens all the medicine bottles, and places the group of empty medicine bottles on the medicine bottle carrying platform (1) while placing the medicine bottles filled with medicine bottles to the full bottle feeding line (6); then, the medicine bottle carrying platform (1) reversely translates, empty medicine bottles are carried to pass through the lower side of the medicine filling device (3), the medicine filling device (3) carries out medicine filling on the empty medicine bottles on the medicine bottle carrying platform (1) in a row until all the empty medicine bottles are filled, the medicine bottle carrying platform (1) carries all the medicine bottles to move to the first side of the medicine filling device (3), the mechanical arm (4) on the first side moves downwards and executes grabbing operation, when the mechanical arm grabs all the medicine bottles filled with the medicine on the medicine bottle carrying platform (1), the mechanical arm (4) on the first side grabs a group of empty bottles on the corresponding empty bottle feeding line (5), then the mechanical arm (4) on the first side ascends and transversely translates, when the medicine bottles filled with the medicine are grabbed from the medicine bottle carrying platform (1), the group of empty bottles are moved to the upper part of the medicine bottle carrying platform (1), finally, the mechanical arm (4) on the first side descends and loosens all the medicine bottles, and the medicine bottles filled with the group of the medicine bottles are placed on the medicine bottle carrying platform (1) while the medicine bottles filled with the medicine bottles are placed on the full bottle feeding line (6); the operation is repeated in a circulating way.
2. The automated pharmaceutical packaging system of claim 1, wherein the robot (4) comprises a robot housing (41) and a plurality of sets of row gripper assemblies (42); each group of the line grabbing components (42) comprises two grabbing strips (421) arranged oppositely, a plurality of concave parts arranged in a linear array are formed on each grabbing strip (421), and the concave parts on the two grabbing strips (421) are arranged oppositely; the device is characterized by further comprising an opening and closing control device (43), wherein the opening and closing control device (43) is used for driving the two grabbing strips (421) contained in all the line grabbing components (42) to perform opening and closing actions.
3. A medical automated packaging system according to claim 2, wherein the opening and closing control means (43) comprises a first rack (431) and a second rack (432); of the two grabbing bars (421) of each row grabbing component (42), the grabbing bar (421) on one side is fixed on the first rack (431), and the grabbing bar (421) on the other side is fixed on the second rack (432); the opening and closing control device (43) further comprises an opening and closing driving gear (433) and an opening and closing driving motor (434), the first rack (431) and the second rack (432) are both meshed with the opening and closing driving gear (433), and the first rack (431) and the second rack (432) are located on two sides of the opening and closing driving gear (433); the opening and closing driving motor (434) is in driving connection with the opening and closing driving gear (433).
4. A medical automated packaging system according to claim 1, characterized in that the charging system further comprises an intermittent movement mechanism (2), the intermittent movement mechanism (2) being configured to drive the vial carrier (1) in an intermittent translational movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110563432.3A CN113247375B (en) | 2021-05-24 | 2021-05-24 | Automatic packaging system of medicine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110563432.3A CN113247375B (en) | 2021-05-24 | 2021-05-24 | Automatic packaging system of medicine |
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| CN113247375A CN113247375A (en) | 2021-08-13 |
| CN113247375B true CN113247375B (en) | 2022-10-18 |
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Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN204643795U (en) * | 2015-04-30 | 2015-09-16 | 浙江天杭生物科技股份有限公司 | Cow's serum automatic filling device |
| CN209008943U (en) * | 2018-09-14 | 2019-06-21 | 杭州和蜂园保健品有限公司 | A kind of canned honey automatic packing device |
| CN209648215U (en) * | 2019-03-06 | 2019-11-19 | 山东星火数控装备有限公司 | Numerical control end-face milling drill centres machine tool self-centering fixture |
| CN212196010U (en) * | 2020-04-18 | 2020-12-22 | 宁波正德康源健康科技有限公司 | Oral liquid filling equipment |
| CN112694045B (en) * | 2020-12-09 | 2022-04-15 | 温州市中心医院 | Automated process for medical agent assembly |
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